Help with Motor6d for rotating kart wheels

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#1

I attempted to make kart wheels rotatable with motor6ds. But the result wasn’t like what I expected

part welds and script:

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image929×506 107 KB 

--update
		--wheels
		local ForwardSpeed = MaxSpeed.Movement.Max.Value * BoostMultipler
		local BackwardSpeed = MaxSpeed.Movement.Min.Value  * BoostMultipler
		local HitboxVel = Main.Hitbox.Velocity
		local ClampedVel = math.clamp(HitboxVel.Z, -BackwardSpeed, ForwardSpeed)
		local AbsoluteVel = math.abs(ClampedVel)
		CurrentWheelSpeed = AbsoluteVel <= 0.5 and ClampedVel or CurrentWheelSpeed
		local SpeedFromThrottle = 0
		if ThrottleFloat ~= 0 then
			SpeedFromThrottle = ThrottleFloat < 0 and BackwardSpeed or ForwardSpeed
		end
		local OverallSpeed = SpeedFromThrottle * ThrottleFloat
		CurrentWheelSpeed = CurrentWheelSpeed + (OverallSpeed - CurrentWheelSpeed) * dt		
		for i, v in pairs(Body.Wheels:GetChildren()) do
			local name = v.Name:lower()
			if not name:match("fixed") then
				local v1 = tostring(v.Name)
				local v2 = v1:sub(7, 7)
				local v3 = WheelThrottleTable[v1:lower()]
				local v4 = (v3 + dt * CurrentWheelSpeed / (v.Core.WheelWeld.Part1.Size.Y * math.pi)) % 4
				v3 = v4
                --find front wheels
				--[[if v2 == "F" then
					v.Core.WheelWeld.C1 = CFrame.new(v.Core.WheelWeld.C1.Position) * (CFrame.Angles(v4 * (math.pi * 2), 0, 0) * CFrame.Angles(0, not Stats.NoWheelTurn.Value and -math.rad(45 * SteerFloat) or 0, 0)) --CFrame.Angles(-v4 * (math.pi * 2), not Stats.NoWheelTurn.Value and -math.rad(45 * SteerFloat) or 0, 0):Inverse() + v.Core.WheelWeld.C1.Position --v.Core.WheelWeld.C1 * CFrame.Angles(v4 * (math.pi * 2), not Stats.NoWheelTurn.Value and math.rad(45 * SteerFloat) or 0, 0)
				else
					v.Core.WheelWeld.C1 = CFrame.new(v.Core.WheelWeld.C1.Position) * (CFrame.Angles(v4 * (math.pi * 2), 0, 0)) --CFrame.Angles(-v4 * (math.pi * 2), 0, 0):Inverse() + v.Core.WheelWeld.C1.Position --v.Core.WheelWeld.C1 * CFrame.Angles(v4 * (math.pi * 2), 0, 0)
				end]]
				if v2 == "F" then
					v.Core.WheelWeld.C1 = CFrame.new(v.Core.WheelWeld.C1.Position) * CFrame.Angles(0, not Stats.NoWheelTurn.Value and -math.rad(45 * SteerFloat) or 0, 0)
				end
				v.Core.WheelWeld.C1 = v.Core.WheelWeld.C1 * CFrame.Angles(v4 * (math.pi * 2), 0, 0)
			end
		end
--

The outcome:

I browsed through this page and could not find the topics with exact same problems as mine. So I wrote this to see whether someone can figure out

#2

Bump again because no one helped me

#3

Consider the weld formula and the C0 and C1 s that have been set.

#4

I used your method

C0 = Motor.part0.Cframe:inverse *part1.CFrame*CFrame.angles(stuff)

and it seemed that it made wheels become able to spin locally. Speaking of steering front wheels, I wanted them to be steered in world space so I edited with additional code

v.Core.WheelWeld.C0 = v.Core.WheelWeld.Part0.CFrame:Inverse() * v.Core.WheelWeld.Part1.CFrame * (CFrame.Angles(v4 * (math.pi * 2), 0, 0))
if v2 == "F" then
	v.Core.WheelWeld.C0 = CFrame.new(v.Core.WheelWeld.C0.Position) * CFrame.Angles(0, not Stats.NoWheelTurn.Value and -math.rad(45 * SteerFloat) or 0, 0)
end

But steering orientation overwrote local spin angle, which meant it resulted in the previous problem


Edit: using DesiredAngles for them would not help. Because it rotated in different axis